CN114684516A - Control method of fork assembly, fork assembly and robot - Google Patents
Control method of fork assembly, fork assembly and robot Download PDFInfo
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- CN114684516A CN114684516A CN202011633784.3A CN202011633784A CN114684516A CN 114684516 A CN114684516 A CN 114684516A CN 202011633784 A CN202011633784 A CN 202011633784A CN 114684516 A CN114684516 A CN 114684516A
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- Prior art keywords
- tray
- goods
- shelf
- fork assembly
- pallet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The control method of the fork assembly, the fork assembly and the robot are provided by the examples of the disclosure, the method is applied to the robot, the robot comprises the fork assembly, the fork assembly comprises a base, a tray arranged on the base in a sliding mode, and a telescopic arm arranged on the base; the method comprises the following steps: when the robot moves to the front of the goods shelf, the tray is controlled to extend out towards the direction of the goods shelf; controlling the telescopic arm to extend out so as to push goods on the tray to the goods shelf or take the goods out of the goods shelf and onto the tray; that is, the pallet can actively extend when the goods are loaded or unloaded, so that the gap between the pallet and the goods shelf is reduced, and the goods are prevented from falling or being clamped between the gaps.
Description
Technical Field
The disclosure relates to the technical field of intelligent warehousing, in particular to a control method of a fork assembly, the fork assembly and a robot.
Background
The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises.
The fork subassembly plays important role in intelligent storage, and the fork subassembly replaces artifical transport goods, and present fork subassembly is through setting up the flexible of the flexible arm on the tray flexible, accomplishes on the goods propelling movement on the tray to the goods shelves or take out the goods to the task on the tray from the hook on the goods shelves.
However, due to the fixed pallet on the fork assembly, it is easy to cause the goods to fall or get stuck in the gap between the pallet and the shelf.
Disclosure of Invention
The disclosed example provides a control method of a pallet fork assembly, the pallet fork assembly and a robot, so that a gap between a pallet and a goods shelf is reduced, and goods are prevented from falling off or being clamped between the gaps.
In a first aspect, the disclosed example provides a control method of a fork assembly, the method is applied to a robot, the robot comprises the fork assembly, the fork assembly comprises a base, a tray arranged on the base in a sliding mode, and a telescopic arm arranged on the base; the method comprises the following steps: when the robot moves to the front of the goods shelf, the tray is controlled to extend out towards the direction of the goods shelf; the telescopic arm is controlled to extend to push the goods on the pallet to the goods shelf or take the goods out of the goods shelf to the pallet.
As an optional example, the fork assembly further includes a distance detection sensor disposed at a front end of the tray, and the control tray extends toward the shelf, including: determining the initial distance between the tray and the shelf according to the distance detection sensor; and determining the extension length of the tray towards the direction of the goods shelf according to the initial distance.
As an optional example, the method further comprises: determining the real-time distance between the tray and the shelf according to the distance detection sensor; and when the real-time distance is lower than the preset distance, controlling the tray to stop extending towards the direction of the goods shelf.
As an optional example, the fork assembly further comprises a collision detection sensor disposed at a front end of the pallet, the method further comprising: and when the collision between the tray and the goods shelf is determined according to the collision detection sensor, controlling the tray to stop extending towards the goods shelf.
As an optional example, the fork assembly further comprises a pressure sensor disposed on the pallet; when the goods on the tray is pushed to the goods shelf, before the control tray stretches out to the goods shelf direction, the control tray further comprises: determining an initial gravity center position of the goods on the pallet according to the pressure sensor; if the initial gravity center position is located at a first preset area on the tray, the step of controlling the tray to extend towards the direction of the goods shelf is executed; or, determining the cargo size from the pressure sensor; and if the size of the goods is smaller than the preset size, executing the step of controlling the tray to extend towards the direction of the goods shelf.
As an optional example, the method further comprises: determining a cargo weight from the pressure sensor; the control tray stretches out to goods shelves direction, includes: and determining the extension speed of the tray according to the weight of the goods, and controlling the tray to extend towards the direction of the goods shelf at the extension speed.
As an alternative example, the control tray and the telescopic arm are extended simultaneously, or the control tray is extended before the telescopic arm, or the control tray and the telescopic arm are extended simultaneously, and the extension speed of the control tray is greater than that of the telescopic arm.
As an optional example, the method further comprises: acquiring the real-time gravity center position of the hooked goods according to the pressure sensor, and determining a first time point of tray retraction according to the real-time gravity center position of the goods; or determining a first time point of tray retraction according to the extension length of the telescopic arm; and controlling the tray to retract at the first time point.
As an alternative example, when the goods are hooked from the shelf and taken out to the tray, the control tray is protruded toward the shelf, and includes: if the initial gravity center position is determined to be located in a second preset area according to the initial gravity center position of the pre-stored goods, the tray is controlled to extend out towards the direction of the goods shelf; or if the goods size is smaller than the preset size according to the pre-stored goods size, controlling the tray to extend out towards the goods shelf.
As an alternative example, the tray and the telescopic arm are controlled to extend simultaneously, or the telescopic arm is controlled to extend before the tray, or the tray and the telescopic arm are controlled to extend simultaneously, and the extending speed of the tray is controlled to be less than the extending speed of the telescopic arm.
As an optional example, the method further comprises: determining a second time point of the tray retraction according to the retraction time and speed of the telescopic arm, or determining a second time point of the tray retraction according to the retraction length of the telescopic arm; and controlling the tray to retract at the second time point.
In a second aspect, the present disclosure provides a pallet fork assembly comprising a controller, a base, a pallet slidably disposed on the base, and a telescoping arm disposed on the base; wherein the controller is configured to perform the method of any of the first aspect.
In a third aspect, the present disclosure provides a robot comprising: moving the chassis; a storage rack mounted to the mobile chassis; a lifting device mounted to the storage shelf; and a fork assembly as set forth in the second aspect, said fork assembly being mounted to said lifting device for controlling the level of said fork assembly.
In a fourth aspect, the present disclosure provides a control device comprising at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any one of the first aspects.
In a fifth aspect, the present disclosure provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the method of any one of the first aspect when executed by a processor.
The control method of the fork assembly is applied to a robot, the robot comprises the fork assembly, the fork assembly comprises a base, a tray and a telescopic arm, the tray is arranged on the base in a sliding mode, and the telescopic arm is arranged on the base; the method comprises the following steps: when the robot moves to the front of the goods shelf, the tray is controlled to extend out towards the direction of the goods shelf; controlling the telescopic arm to extend out so as to push the goods on the tray onto the goods shelf or take the goods out of the goods shelf and onto the tray; that is, the pallet can actively extend when the goods are loaded or unloaded, so that the gap between the pallet and the goods shelf is reduced, and the goods are prevented from falling or being clamped between the gaps.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate examples consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of a robot provided by the present disclosure;
FIG. 2 is a schematic structural view of a pallet fork assembly provided by the present disclosure;
FIG. 3 is a flow chart illustrating a method of controlling a fork assembly according to the present disclosure;
FIG. 4 is a flow chart illustrating another method of controlling a fork assembly provided by the present disclosure;
FIG. 5 is a flow chart illustrating a method of controlling a fork assembly according to the present disclosure;
FIG. 6 is a flow chart illustrating a method of controlling a fork assembly according to yet another embodiment of the present disclosure;
FIG. 7 is a flow chart illustrating a further method of controlling a fork assembly according to the present disclosure;
fig. 8 is a schematic structural diagram of a control device according to the present invention.
Reference numerals:
1: moving the chassis;
2: a storage shelf;
3: a lifting device;
4: a fork assembly;
41: a base;
42: a tray;
43: a telescopic arm;
44: a rotation mechanism;
45: a distance detection sensor;
46: a collision detection sensor;
47: a crash cushion.
Explicit examples of the present disclosure have been shown by the above figures and will be described in more detail later. The drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific examples.
Specific examples
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The examples described in the following exemplary examples are not intended to represent all examples consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The following describes the technical solutions of the present disclosure and how to solve the above technical problems in detail by specific examples. Several of these specific examples may be combined with each other below, and some of the same or similar concepts or processes may not be repeated in some examples. Examples of the present disclosure will now be described with reference to the accompanying drawings.
The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises.
The fork subassembly plays important role in intelligent storage, and the fork subassembly replaces artifical transport goods, and present fork subassembly is through setting up the flexible of the flexible arm on the tray flexible, accomplishes on the goods propelling movement on the tray to the goods shelves or take out the goods to the task on the tray from the hook on the goods shelves.
However, in the prior art, the fork assembly needs to rotate to adjust the direction when carrying goods, and in order to avoid the fork assembly from being too long due to the tray, the rotating radius is large, the collision with the goods shelf occurs, a large gap can be reserved between the tray and the goods shelf, the tray is fixedly arranged on the fork assembly, the gap cannot be made up, and therefore the goods can be easily dropped or clamped in the gap.
In view of the above problems, the technical idea of the present disclosure is that: when goods on the tray are required to be placed on the goods shelf or the goods on the goods shelf are required to be taken out and placed on the tray, the tray can actively stretch out towards the goods shelf, so that gaps between the tray and the goods shelf are reduced as much as possible, and the goods are prevented from falling off or being clamped from the gaps.
Generally speaking, the fork assembly is arranged on a robot, fig. 1 is a schematic structural diagram of a robot provided by the present disclosure, and as shown in fig. 1, the robot includes a moving chassis 1, a storage shelf 2, a lifting device 3 and a fork assembly 4. The storage shelf 2, the lifting device 3 and the fork assembly 4 are all arranged on the movable chassis 1, and a plurality of storage units are arranged on the storage shelf 2; the lifting device 3 is used for driving the fork assembly 4 to move up and down, so that the fork assembly 4 is aligned with any one storage unit on the storage shelf 2, or is aligned with the shelf and/or goods; the fork assembly 4 can be rotated about a vertical axis to adjust orientation for alignment to a storage unit or for alignment with a shelf and/or cargo. The fork assembly 4 is used to perform loading or unloading of goods for the handling of goods between the racks and the storage units.
Fig. 2 is a schematic structural view of a pallet fork assembly provided by the present disclosure. As shown in fig. 2, the fork assembly 4 includes a base 41, a tray 42 slidably disposed on the base, and a telescopic arm 43 disposed on the base 41. Optionally, the fork assembly further comprises a rotation mechanism 44.
Referring to fig. 1 and 2, in an actual process, when goods are loaded (i.e. goods on a pallet are placed on a shelf), firstly, the fork assembly 4 aligns the pallet 42 with one storage unit in the storage shelf 2 on the robot through the rotating mechanism 44, the telescopic arm 43 extends to hook the goods in the storage unit onto the pallet 42, then, the fork assembly 4 rotates through the rotating mechanism 44 to align the pallet 42 with the shelf, and the telescopic arm 43 extends to push the goods on the pallet 42 onto the shelf. When the goods are unloaded (i.e., the goods are taken out from the shelf onto the pallet), first the fork assembly 4 aligns the pallet 42 with the shelf by the rotating mechanism 44, the telescopic arm 43 extends to hook the goods from the shelf onto the pallet 42, then the fork assembly 4 rotates by the rotating mechanism 44 to align the pallet 42 with the storage unit, and the telescopic arm 43 extends to push the goods on the pallet 42 into the storage unit.
It should be noted that the execution subject of the present disclosure may be a controller. Alternatively, the controller may be provided on the robot shown in fig. 1, on the fork assembly shown in fig. 2, or in a server for controlling the robot shown in fig. 1, the controller being configured to execute the control method in each of the following examples.
In a first aspect, the present disclosure provides a method for controlling a fork assembly, and fig. 3 is a flowchart illustrating the method for controlling the fork assembly provided by the present disclosure.
As shown in fig. 3, the control method of the fork assembly includes:
and step 101, when the robot moves to the front of the shelf, controlling the tray to extend towards the direction of the shelf.
And 102, controlling the telescopic arm to extend to push the goods on the pallet to the shelf or take the goods out of the shelf to the pallet.
Specifically, when loading goods (i.e. pushing the goods on the pallet onto the shelf) or unloading goods (i.e. hooking the goods from the shelf onto the pallet), the robot moves to the front of the shelf, controls the pallet to extend toward the shelf, and controls the telescopic arm to extend to push the goods on the pallet onto the shelf or hook the goods on the goods unloading shelf onto the pallet. In this example, the order of extending the tray and the telescopic arm is not limited.
As an alternative example, for a cargo loading scene, the tray and the telescopic arm are controlled to extend simultaneously, or the tray is controlled to extend before the telescopic arm, or the tray and the telescopic arm are controlled to extend simultaneously, and the extending speed of the tray is controlled to be greater than that of the telescopic arm.
Specifically, the pallet and the telescopic arm can be simultaneously extended at the same speed when the cargo is loaded; or the tray is firstly extended out, and then the telescopic arm is extended out; or the extension speed of the tray is greater than that of the telescopic arm; thereby make when the goods loads, dwindle the gap between tray and the goods shelves earlier, simultaneously perhaps stretch out the propelling movement goods at a later time flexible arm, avoided because of flexible arm stretches out the propelling movement goods earlier, and the goods that leads to drops or blocks between the gap.
As an alternative example, for the cargo unloading scene, the tray and the telescopic arm are controlled to extend simultaneously, or the telescopic arm is controlled to extend before the tray, or the tray and the telescopic arm are controlled to extend simultaneously, and the extending speed of the tray is controlled to be less than that of the telescopic arm.
In particular, the pallet and the telescopic arm can be extended simultaneously at the same speed when the load is unloaded; or the telescopic arm extends out firstly, and then the tray extends out; or the extension speed of the tray is less than that of the telescopic arm; therefore, when the goods are unloaded, the telescopic arm can hook the goods on the goods shelf in time after the tray extends out.
As an optional example, the fork assembly further includes a distance detection sensor disposed at a front end of the tray, and the control tray extends toward the shelf, including: determining the initial distance between the tray and the shelf according to the distance detection sensor; and determining the extension length of the tray towards the direction of the goods shelf according to the initial distance.
Specifically, as shown in fig. 2, a distance detecting sensor 45 is provided at the front end of the tray 42, and the distance detecting sensor 45 can measure the distance between the tray 42 and the shelf in real time. When the robot moves to the front of the shelf, the initial distance between the tray 42 and the shelf can be obtained according to the distance detection sensor 45, and then the extension length of the tray 42 is determined according to the initial distance, so that the collision between the tray 42 and the shelf can be effectively prevented.
For example, when the initial distance between the tray 42 and the shelf is determined to be 10 cm based on the measurement of the distance detection sensor 45, the protruding length of the tray 42 may be controlled to be 10 cm or slightly less than 10 cm.
As an optional example, the method further comprises: determining the real-time distance between the tray and the shelf according to the distance detection sensor; and when the real-time distance is lower than the preset distance, controlling the tray to stop extending towards the direction of the goods shelf.
Particularly, in the process that the tray stretches out to the goods shelves direction, distance detection sensor can acquire the real-time distance between tray and the goods shelves in real time, when real-time distance is less than preset distance, then control the tray and stop stretching out, also can effectively prevent tray and goods shelves bump.
As an optional example, the fork assembly further comprises a collision detection sensor disposed at a front end of the pallet, the method further comprising: and when the collision between the tray and the goods shelf is determined according to the collision detection sensor, controlling the tray to stop extending towards the goods shelf.
Specifically, as shown in fig. 2, in addition to controlling the extension length of the shelf based on the distance detection sensor 45 described above, or determining that the tray 42 stops extending based on the real-time distance between the tray 42 and the shelf acquired by the distance detection sensor 45, a collision detection sensor 46 may be provided at the front end of the tray 42, and the tray 42 may be controlled to stop extending when it is determined that the tray 42 collides with the shelf based on the collision detection sensor 46. Optionally, a collision buffer 47 may be further disposed at the front end of the tray 42 to reduce the impact force and damage when the tray 42 collides with the shelf.
The control method of the fork assembly provided by the disclosed example controls the tray to extend towards the direction of the goods shelf when the robot moves to the front of the goods shelf; controlling the telescopic arm to extend out so as to push goods on the tray to the goods shelf or take the goods out of the goods shelf and onto the tray; the pallet extends out actively, so that gaps between the pallet and the goods shelf are reduced, and goods are prevented from falling or being clamped between the gaps; in addition, the tray can support the goods shelf after stretching out, which is helpful for reducing the shaking of the robot when taking and putting goods.
With reference to the foregoing implementation manners, fig. 4 is a flowchart of another control method of a fork assembly provided in the present disclosure, and it should be noted that this example is directed to a scenario of loading goods (i.e., pushing goods on a pallet onto a shelf), as shown in fig. 4, the control method of the fork assembly includes:
And 202, if the initial gravity center position is located at a first preset area on the tray, controlling the tray to extend towards the direction of the shelf.
And step 203, controlling the telescopic arm to extend to push the goods on the tray to the shelf.
Step 203 in this example is similar to the implementation of step 102 in the foregoing example, and is not described herein again.
Unlike the previous example, in order to reduce power consumption, in the present example, an initial barycentric position of the goods on the tray is determined based on the pressure sensor, and if the initial barycentric position is located at a first preset region on the tray, the tray is controlled to be extended in the shelf direction.
Specifically, at least one pressure sensor is arranged on the surface of the tray, and the initial gravity center position of the goods on the tray can be obtained according to the pressure sensor; the first preset area can be an area close to the front end or the rear end area of the tray, and when the initial gravity center position is located at the front end or the rear end area of the tray, the tray is controlled to extend towards the shelf. On the contrary, when the initial center of gravity position of the goods is not in the first preset area, for example, the center of gravity of the goods is uniform, or the initial center of gravity position is located in the middle of the tray, the tray can be controlled not to extend. Specifically, when the center of gravity position of the goods is close to the front end region or the rear end region of the tray, if the tray does not extend, when the goods are pushed onto the shelf, the goods may slip or be stuck from a gap between the shelf and the tray.
As an optional example, the method further comprises: determining a cargo weight from the pressure sensor; the control tray stretches out to goods shelves direction, includes: and determining the extension speed of the tray according to the weight of the goods, and controlling the tray to extend towards the direction of the goods shelf at the extension speed.
Particularly, when the tray needs to be stretched out, the weight of the goods can be determined according to the pressure sensor, and then the stretching speed of the tray is determined according to the weight of the goods, for example, the weight of the goods is light, the stretching speed is slow, the weight of the goods is heavy, the stretching speed is accelerated, and the relative position of the goods and the tray is prevented from being greatly changed due to inertia.
As an optional example, the method further comprises: acquiring the real-time gravity center position of the goods according to the pressure sensor, and determining a first time point for retracting the tray according to the real-time gravity center position of the goods; or determining a first time point of tray retraction according to the extension length of the telescopic arm; and controlling the tray to retract at the first time point.
Particularly, after the goods moved to the goods shelves from the tray, the tray need in time retract, if retract too slowly can lead to the fork subassembly when rotatory, the storage goods shelves of goods are collided to the tray, but if retract too fast, most weight of goods still on the tray, the goods very easily drops or blocks from the gap this moment. Therefore, in this example, if the initial center of gravity position of the cargo is located at the front end of the pallet, the pressure sensor on the surface of the pallet may always detect the center of gravity position of the cargo in real time, and when the center of gravity position of the cargo is detected to be closer to the front end of the pallet or the center of gravity position of the cargo is not detected, it is indicated that the cargo is about to leave the pallet at this time, or when the cargo has left the pallet to the shelf, it may be determined as a time point at which the pallet is retracted, and at this time point, the pallet is retracted.
Alternatively, when the extension length of the telescopic arm is long enough, which indicates that the goods have been moved onto the shelf by the telescopic arm, the time point at which the pallet is retracted may be determined as the time point at which the pallet is retracted.
According to the control method of the fork assembly, when the robot moves to the front of the goods shelf, the initial gravity center position of goods on the pallet is determined according to the pressure sensor arranged on the surface of the pallet; if the initial gravity center position is located at a first preset area on the tray, the tray is controlled to extend towards the direction of the goods shelf; controlling the telescopic arm to extend out so as to push the goods on the tray to the goods shelf; that is, the disclosed example reduces power consumption by controlling the tray to be extended only when the position of the center of gravity of the cargo is in a specific region.
With reference to the foregoing implementation manners, fig. 5 is a flowchart of a control method of a fork assembly provided by the present disclosure, and it should be noted that this example is directed to a scenario of loading goods (i.e., pushing goods on a pallet onto a shelf), and as shown in fig. 5, the control method of the fork assembly includes:
and 301, when the robot moves to the front of the shelf, determining the size of the goods according to the pressure sensor.
And 302, if the size of the goods is smaller than the preset size, controlling the tray to extend towards the direction of the shelf.
And 303, controlling the telescopic arm to extend out to push the goods on the tray to the goods shelf.
Step 303 in this example is similar to the implementation of step 102 in the foregoing example, and is not described herein again.
Unlike the previous example, in order to reduce power consumption, in the present example, the cargo size is determined based on the pressure sensor, and if the cargo size is smaller than a preset size, the step of controlling the tray to be protruded in the shelf direction is performed.
Specifically, at least one pressure sensor is arranged on the surface of the tray, the pressure sensor can measure the stress area of the tray under the pressure of the goods, the bottom area of the goods can be determined according to the stress area, and then the size of the goods is determined according to the bottom area, for example, the length, the width and the like of the bottom of the goods are determined; when the goods size is less, just can control the tray and stretch out, otherwise the tray does not stretch out, reduces the consumption.
In conclusion, when the center of gravity of the goods is relatively forward or the size of the goods is smaller, the tray can actively extend out to reduce the gap between the tray and the shelf; if the gravity center position of the goods is determined to be forward according to the pressure sensor, or the gravity center position is uniform, and the size of the goods is large, the tray does not extend out at the moment.
On the basis of the foregoing example, by determining the cargo size from the pressure sensor when the robot moves in front of the shelf; if the size of the goods is smaller than the preset size, the tray is controlled to extend out towards the direction of the goods shelf; controlling the telescopic arm to extend out so as to push the goods on the tray to the goods shelf; that is, the tray will actively extend only when the cargo size is small, which reduces power consumption.
With reference to the foregoing implementation manners, fig. 6 is a flowchart of a control method of a fork assembly provided in the present disclosure, and it should be noted that this example is directed to a scenario of unloading goods (i.e., hooking goods from a shelf onto a pallet), and as shown in fig. 6, the control method of the fork assembly includes:
Step 402 in this example is similar to the implementation of step 102 in the previous example, and is not described herein again.
Unlike the previous example, which addresses the power consumption problem in the cargo unloading scenario, in this example, if the initial barycentric position is determined to be located in the second preset region based on the initial barycentric position of the pre-stored cargo, the tray is controlled to extend in the shelf direction.
Specifically, when the goods are loaded, the pressure sensor on the tray can acquire the initial gravity center position of the goods hooked on the tray and store the initial gravity center position of the goods. When the goods are unloaded, the controller judges whether the tray extends out according to whether the initial gravity center position of the pre-stored goods is located in a second preset area, wherein the second preset area can be a front end area or a rear end area of the tray, and when the recorded initial gravity center position of the goods is located at the front end or the rear end area of the tray, the tray is controlled to extend out towards the shelf direction. On the contrary, when the initial gravity center position of the goods is not in the second preset area, for example, the gravity centers of the goods are uniform, or the initial gravity center position is located in the middle of the tray, the tray is controlled not to extend.
As an optional example, the method further comprises: determining a second time point of the tray retraction according to the retraction time and speed of the telescopic arm, or determining a second time point of the tray retraction according to the retraction length of the telescopic arm; and controlling the tray to retract at the second time point.
Specifically, the retraction length of the telescopic arm can be known from the time and speed of retraction of the telescopic arm, and after the retraction length of the telescopic arm reaches a certain value, it is described that the goods have moved from the shelf to the pallet at this time, and at this time, it can be determined as the time point of the retraction of the pallet, at which the pallet is retracted.
According to the control method of the fork assembly, when the robot moves to the front of the goods shelf, if the initial gravity center position is determined to be located in a second preset area according to the initial gravity center position of the goods stored in advance; controlling the tray to extend towards the direction of the goods shelf; controlling the telescopic arm to extend out so as to take goods out of the goods shelf and onto the tray; that is, in the cargo unloading scenario, the tray will actively extend only when the recorded initial center of gravity position is located in the second preset region, thereby reducing power consumption.
With reference to the foregoing implementation manners, fig. 7 is a flowchart of a control method of a fork assembly provided in the present disclosure, and it should be noted that this example is directed to a scenario of unloading goods (i.e., taking goods out of a shelf onto a pallet), as shown in fig. 7, the control method of the fork assembly includes:
Step 502 in this example is similar to the implementation of step 102 in the previous example, and is not described herein again.
Unlike the previous example, in order to reduce power consumption in the cargo removal scenario, in this example, if the cargo size is determined to be smaller than the preset size according to the pre-stored cargo size, the tray is controlled to extend toward the shelf.
Specifically, in this example, it is determined whether the pallet is extended according to the cargo size recorded when the cargo is loaded, that is, the pallet is actively extended when the recorded cargo size is smaller than a preset size.
In conclusion, when the goods are unloaded, whether the tray stretches out or not is determined according to the initial gravity center position and the size of the goods which are recorded in advance, and only when the initial gravity center position of the goods is close to the front end of the tray or the size of the goods is small, the tray can actively stretch out, so that the power consumption under the scene of unloading the goods is reduced.
According to the control method of the fork assembly, when the robot moves to the front of the goods shelf, if the size of the goods is determined to be smaller than the preset size according to the size of the goods stored in advance, the tray is controlled to extend towards the direction of the goods shelf; controlling the telescopic arm to extend out so as to take goods out of the goods shelf and onto the tray; that is, the disclosed example is directed to a cargo unloading scenario, and only when the cargo size is small, the tray will actively extend, reducing power consumption.
In a second aspect, examples of the present disclosure provide a fork assembly, as illustrated with reference to fig. 2, the fork assembly 4 comprising: a controller (shown in fig. 2), a base 41, a tray 42 slidably disposed on the base 41, and a telescopic arm 43 disposed on the base 41; wherein the controller is configured to perform the method of any of the first aspect.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and corresponding beneficial effects of the fork assembly described above may refer to the corresponding process in the foregoing method example, and will not be described herein again.
The pallet fork assembly provided by the disclosed example comprises a controller, a base, a tray arranged on the base in a sliding mode, and a telescopic arm arranged on the base; the controller is used for controlling the tray to extend out towards the direction of the goods shelf when the robot moves to the front of the goods shelf; controlling the telescopic arm to extend out so as to push goods on the tray to the goods shelf or take the goods out of the goods shelf and onto the tray; controlling the telescopic arm to extend out so as to push goods on the tray to the goods shelf or take the goods out of the goods shelf and onto the tray; the tray is actively extended out, so that the gap between the tray and the goods shelf is reduced, and the goods are prevented from falling or being clamped between the gaps.
In a third aspect, the present disclosure provides a robot, as shown with reference to fig. 1, comprising a mobile chassis 1; a storage rack 2, wherein the storage rack 2 is mounted on the mobile chassis 1; a lifting device 3, wherein the lifting device 3 is mounted on the storage shelf 3; and a fork assembly 4 as described in the second aspect, the fork assembly 4 being mounted to the lifting device 3, the lifting device 3 being adapted to control the level of the fork assembly 4.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and corresponding beneficial effects of the robot described above may refer to the corresponding process in the foregoing method example, and are not described herein again.
An example of the present disclosure provides a robot, comprising: moving the chassis; a storage rack mounted to the mobile chassis; a lifting device mounted to the storage shelf; and a fork assembly as described in the first aspect, the fork assembly being mounted to the lifting device for controlling the level of the fork assembly; that is, the tray is actively extended out in the disclosed example, so that the gap between the tray and the goods shelf is reduced, and the goods are prevented from falling off or being clamped between the gaps.
In a fourth aspect, the present disclosure provides a control device, and fig. 8 is a schematic structural diagram of the control device provided in the present disclosure, as shown in fig. 8, including:
at least one processor 801 and a memory 802.
In a specific implementation process, at least one processor 801 executes computer-executable instructions stored in the memory 802, so that the at least one processor 801 executes the control method, wherein the processor 801 and the memory 802 are connected through the bus 803.
For a specific implementation process of the processor 801, reference may be made to the above method examples, which have similar implementation principles and technical effects, and details of this example are not described herein again.
In the example shown in fig. 8, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise high speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
In a fourth aspect, the present disclosure also provides a readable storage medium, in which computer execution instructions are stored, and when a processor executes the computer execution instructions, the control method is implemented.
The readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in the apparatus.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method examples may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps including the above-described method examples; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; while the present disclosure has been described in detail with reference to the foregoing examples, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing examples may be modified, or some or all of the technical features may be replaced with equivalents; such modifications or substitutions do not depart from the scope of the exemplary embodiments of the present disclosure.
Claims (10)
1. A control method of a pallet fork assembly is characterized by being applied to a robot, wherein the robot comprises the pallet fork assembly, the pallet fork assembly comprises a base, a tray and a telescopic arm, the tray is slidably arranged on the base, and the telescopic arm is arranged on the base; the method comprises the following steps:
when the robot moves to the front of the goods shelf, the tray is controlled to extend out towards the direction of the goods shelf;
the telescopic arm is controlled to extend to push the goods on the pallet to the goods shelf or take the goods out of the goods shelf to the pallet.
2. The method of claim 1, wherein the fork assembly further comprises a distance detection sensor disposed at a front end of the tray, and wherein the controlling the tray to extend in the direction of the shelf comprises:
determining an initial distance between the tray and the shelf according to the distance detection sensor;
and determining the extension length of the tray towards the direction of the shelf according to the initial distance.
3. The method of claim 2, further comprising:
determining the real-time distance between the tray and the shelf according to the distance detection sensor;
and when the real-time distance is lower than the preset distance, controlling the tray to stop extending towards the direction of the goods shelf.
4. The method of claim 1, wherein the fork assembly further comprises a crash detection sensor disposed at a front end of the pallet, the method further comprising:
and when the collision between the tray and the goods shelf is determined according to the collision detection sensor, controlling the tray to stop extending towards the goods shelf.
5. The method of any of claims 1-4, wherein the pallet fork assembly further comprises a pressure sensor disposed on the pallet; when the goods on the tray is pushed to the goods shelf, before the control tray stretches out to the goods shelf direction, the control tray further comprises:
determining an initial gravity center position of the goods on the pallet according to the pressure sensor;
if the initial gravity center position is located at a first preset area on the tray, the step of controlling the tray to extend towards the direction of the goods shelf is executed;
or, determining a cargo size from the pressure sensor;
and if the size of the goods is smaller than the preset size, executing the step of controlling the tray to extend towards the direction of the goods shelf.
6. The method of any one of claims 1-4, wherein said controlling the tray to extend in the direction of the shelf when hooking the goods from the shelf onto the tray comprises:
if the initial gravity center position is determined to be located in a second preset area according to the initial gravity center position of the pre-stored goods, the tray is controlled to extend out towards the direction of the goods shelf;
or if the goods size is smaller than the preset size according to the pre-stored goods size, controlling the tray to extend out towards the goods shelf.
7. A pallet fork assembly, comprising a controller, a base, a pallet slidably disposed on the base, and a telescoping arm disposed on the base;
wherein the controller is configured to perform the method of any one of claims 1 to 6.
8. A robot, comprising:
moving the chassis;
a storage rack mounted to the mobile chassis;
a lifting device mounted to the storage shelf; and
the fork assembly of claim 7, mounted to the lifting device for controlling the level of the fork assembly.
9. A control device comprising at least one processor and a memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any of claims 1-6.
10. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 6.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011633784.3A CN114684516B (en) | 2020-12-31 | 2020-12-31 | Control method of fork assembly, fork assembly and robot |
| TW110145233A TWI819423B (en) | 2020-12-31 | 2021-12-03 | Control method for handling assembly, handling assembly, robot, control device and computer readable storage medium |
| PCT/CN2021/137556 WO2022143133A1 (en) | 2020-12-31 | 2021-12-13 | Fork assembly control method, fork assembly, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011633784.3A CN114684516B (en) | 2020-12-31 | 2020-12-31 | Control method of fork assembly, fork assembly and robot |
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| Publication Number | Publication Date |
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| CN114684516A true CN114684516A (en) | 2022-07-01 |
| CN114684516B CN114684516B (en) | 2023-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011633784.3A Active CN114684516B (en) | 2020-12-31 | 2020-12-31 | Control method of fork assembly, fork assembly and robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN114684516B (en) |
| TW (1) | TWI819423B (en) |
| WO (1) | WO2022143133A1 (en) |
Cited By (1)
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| CN116823084A (en) * | 2023-06-28 | 2023-09-29 | 江苏同为科技有限公司 | Intelligent building collaborative management method and system |
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Also Published As
| Publication number | Publication date |
|---|---|
| TWI819423B (en) | 2023-10-21 |
| WO2022143133A1 (en) | 2022-07-07 |
| CN114684516B (en) | 2023-05-02 |
| TW202227344A (en) | 2022-07-16 |
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